app_link.c File Reference

CMD reception: arrival time, RC store, command queue (see app_link.h). More...

#include "app_link.h"
#include "proto_v2.h"
#include <string.h>

Include dependency graph for app_link.c:

Go to the source code of this file.

Macros
#define	APPL_BARRIER()   __sync_synchronize()
#define	QMASK   (APPL_QUEUE_LEN - 1u)

Functions
void	appl_reset (void)
void	appl_on_cmd_write (const uint8_t *d, uint16_t len, uint32_t now_ms)
void	appl_on_connect (void)
void	appl_on_disconnect (void)
int	appl_pop (appl_cmd_t *out)
	1 if a command was taken
uint32_t	appl_queue_dropped (void)
uint8_t	appl_ever (void)
	1 once any CMD frame arrived
uint32_t	appl_last_ms (void)
	time of the last CMD frame
uint8_t	appl_link_down (void)
	GAP disconnected since then
uint32_t	appl_silence_ms (uint32_t now_ms, uint32_t down_floor_ms)
	Silence seen by the failsafe: now - last CMD frame, at least 'down_floor_ms' while the link is reported down; UINT32_MAX if nothing ever arrived.
int	appl_rc_read (appl_rc_t *out, uint32_t *t_ms)
	Latest RC values and their arrival time.

Variables
static appl_cmd_t	s_q [APPL_QUEUE_LEN]
static volatile uint32_t	s_head
static volatile uint32_t	s_tail
static volatile uint32_t	s_qdrop
static volatile uint32_t	s_last_ms
static volatile uint8_t	s_ever
static volatile uint8_t	s_down
static volatile uint32_t	s_rc_seq
static volatile uint32_t	s_rc_ms
static volatile uint8_t	s_rc_ever
static appl_rc_t	s_rc

Detailed Description

CMD reception: arrival time, RC store, command queue (see app_link.h).

Definition in file app_link.c.

Macro Definition Documentation

APPL_BARRIER

#define APPL_BARRIER

(

)

__sync_synchronize()

Definition at line 12 of file app_link.c.

QMASK

#define QMASK   (APPL_QUEUE_LEN - 1u)

Definition at line 15 of file app_link.c.

Function Documentation

appl_reset()

void appl_reset

(

void

)

Definition at line 32 of file app_link.c.

References s_down, s_ever, s_head, s_last_ms, s_qdrop, s_rc, s_rc_ever, s_rc_ms, s_rc_seq, and s_tail.

appl_on_cmd_write()

void appl_on_cmd_write	(	const uint8_t *	d,
		uint16_t	len,
		uint32_t	now_ms
	)

Definition at line 41 of file app_link.c.

References APPL_BARRIER, APPL_CMD_MAX, APPL_QUEUE_LEN, appl_cmd_t::b, appl_rc_t::buttons, appl_cmd_t::len, appl_rc_t::pitch, PV2_OP_HEARTBEAT, PV2_OP_RC, pv2_rd_i16(), QMASK, appl_rc_t::roll, s_down, s_ever, s_head, s_last_ms, s_q, s_qdrop, s_rc, s_rc_ever, s_rc_ms, s_rc_seq, s_tail, appl_rc_t::thr, and appl_rc_t::yaw.

Here is the call graph for this function:

appl_on_connect()

void appl_on_connect

(

void

)

Definition at line 81 of file app_link.c.

appl_on_disconnect()

void appl_on_disconnect

(

void

)

Definition at line 82 of file app_link.c.

References s_down.

appl_pop()

int appl_pop

(

appl_cmd_t *

out

)

1 if a command was taken

Definition at line 85 of file app_link.c.

References APPL_BARRIER, QMASK, s_head, s_q, and s_tail.

Referenced by commands().

Here is the caller graph for this function:

appl_queue_dropped()

uint32_t appl_queue_dropped

(

void

)

Definition at line 96 of file app_link.c.

References s_qdrop.

appl_ever()

uint8_t appl_ever

(

void

)

1 once any CMD frame arrived

Definition at line 99 of file app_link.c.

References s_ever.

appl_last_ms()

uint32_t appl_last_ms

(

void

)

time of the last CMD frame

Definition at line 100 of file app_link.c.

References s_last_ms.

appl_link_down()

uint8_t appl_link_down

(

void

)

GAP disconnected since then

Definition at line 101 of file app_link.c.

References s_down.

appl_silence_ms()

uint32_t appl_silence_ms	(	uint32_t	now_ms,
		uint32_t	down_floor_ms
	)

Silence seen by the failsafe: now - last CMD frame, at least 'down_floor_ms' while the link is reported down; UINT32_MAX if nothing ever arrived.

Definition at line 103 of file app_link.c.

References s, s_down, s_ever, and s_last_ms.

Referenced by app_link_failsafe(), and calibration().

Here is the caller graph for this function:

appl_rc_read()

int appl_rc_read	(	appl_rc_t *	out,
		uint32_t *	t_ms
	)

Latest RC values and their arrival time.

Returns 1 with a consistent copy, 0 if no RC ever arrived (out untouched).

Definition at line 112 of file app_link.c.

References APPL_BARRIER, s_rc, s_rc_ever, s_rc_ms, and s_rc_seq.

Referenced by build_checks(), and update_sticks().

Here is the caller graph for this function:

Variable Documentation

s_q

appl_cmd_t s_q[APPL_QUEUE_LEN]

static

Definition at line 20 of file app_link.c.

Referenced by appl_on_cmd_write(), appl_pop(), ext_init(), ext_step(), and ext_take().

s_head

volatile uint32_t s_head

static

Definition at line 21 of file app_link.c.

Referenced by appl_on_cmd_write(), appl_pop(), and appl_reset().

s_tail

volatile uint32_t s_tail

static

Definition at line 21 of file app_link.c.

Referenced by appl_on_cmd_write(), appl_pop(), and appl_reset().

s_qdrop

volatile uint32_t s_qdrop

static

Definition at line 21 of file app_link.c.

Referenced by appl_on_cmd_write(), appl_queue_dropped(), and appl_reset().

s_last_ms

volatile uint32_t s_last_ms

static

Definition at line 23 of file app_link.c.

Referenced by appl_last_ms(), appl_on_cmd_write(), appl_reset(), and appl_silence_ms().

s_ever

volatile uint8_t s_ever

static

Definition at line 24 of file app_link.c.

Referenced by appl_ever(), appl_on_cmd_write(), appl_reset(), and appl_silence_ms().

s_down

volatile uint8_t s_down

static

Definition at line 25 of file app_link.c.

Referenced by appl_link_down(), appl_on_cmd_write(), appl_on_disconnect(), appl_reset(), and appl_silence_ms().

s_rc_seq

volatile uint32_t s_rc_seq

static

Definition at line 27 of file app_link.c.

Referenced by appl_on_cmd_write(), appl_rc_read(), and appl_reset().

s_rc_ms

volatile uint32_t s_rc_ms

static

Definition at line 28 of file app_link.c.

Referenced by appl_on_cmd_write(), appl_rc_read(), and appl_reset().

s_rc_ever

volatile uint8_t s_rc_ever

static

Definition at line 29 of file app_link.c.

Referenced by appl_on_cmd_write(), appl_rc_read(), and appl_reset().

s_rc

appl_rc_t s_rc

static

Definition at line 30 of file app_link.c.

Referenced by appl_on_cmd_write(), appl_rc_read(), and appl_reset().